Hollow Rotary Actuators. DG Series. With Built-in AZ Series Battery-Free Absolute Sensor NEW WITH DC-INPUT

Transcription

1 Hollow Rotary Actuators DG Series With Built-in AZ Series Battery-Free Absolute Sensor NEW WITH DC-INPUT

2 Hollow Rotary Actuators DG Series With Built-in AZ Series Battery-Free Absolute Sensor The DG Series integrated hollow rotary tables and stepper motor product lineup now includes models with built-in AZ Series products. The battery-free absolute system positioning contributes to improved productivity and cost reduction. Presetting just once the home position and there is no need for repeatedly referencing. 2

3 Hollow Rotary Actuators Page 4 5 Simplified Design through Integrated Actuator and Motor Products Hollow Output Table: Maximum Diameter 100 mm Maximum Permissible Torque: 50 N m Maximum Permissible Axial Load: 4000 N Repetitive Positioning Accuracy: ±15 arc seconds (±0.004 ) Contents Characteristics Page 4 Product Lineup Page 11 How to Read the Specifications Page 12 System Configurations Page 13 Product Line Page 15 With Built-in AZ Series Battery-Free Absolute Sensor Page 6 7 Uses Patented ABZO Sensor Mechanical Multi-Turn Absolute Sensor No Home Sensor Required High-Speed Return-to-Home Operation Battery-free Absolute System Configuration Specifications Page 17 Dimensions Page 21 Connection and Operation Page 26 Accessories Page 37 The AZ Series Stepper Motor and Driver Package Provides High Performance and High Reliability Page 8 Quick Positioning through Agile Responsiveness Increased Reliability Through the Unique Closed Loop Control System Low Vibration Operation Possible Even at Low Speeds No Tuning Required 3

4 Hollow Rotary Actuator Characteristics The DG Series is a line of integrated products that combines a hollow rotary table with a stepper motor. The actuator has an internal speed reduction mechanism (gear ratio 18), which makes high power driving possible. Features A cross-roller bearing is used on the output table, which allows for both high load and high rigidity. Output Table Cross-Roller Bearing component drives Gear Hollow Output Table (Uses cross-roller bearing) Pinion Motor Simplified Design Tables and arms can be installed directly onto the output table. This saves the hassle and cost of designing an installation mechanism, arranging necessary mechanism parts, adjusting the belt tension, etc., when mechanical components such as a belt and pulley are used for installation. High Positioning Accuracy with Non-Backlash Non-Backlash Repetitive Positioning Accuracy ±15 arc seconds (±0.004 ) Note The repetitive positioning accuracy is measured at a constant temperature (normal temperature) under a constant load. Mounting Pedestals (sold separately) are Available as an Accessory Mounting pedestal accessories are available to assist with the installation of the DG Series. For applicable products, check page 37. Motor + Mechanical Component (Designed and arranged separately) DG Series (Integrated product) Large-Diameter, Hollow Output Table Makes Simple Wiring and Piping Possible The large diameter hollow hole (through-hole) helps reduce the complexity of wiring and piping, thus simplifying equipment design. Filling equipment with piped-in liquid Application Example Mounting Pedestals (sold separately) Diameter of Hollow Section Frame Size 200 mm ϕ100 mm Example: DG200R Product Frame Size mm Diameter of Hollow Section mm DGM85R 85 ϕ33 DGM130R 130 ϕ62 DGM200R 200 ϕ100 4

5 High Load and High Rigidity The standard type uses a cross-roller bearing on the output table bearing, which allows for both high load and high rigidity. Maximum Permissible Axial Load 4000 N Maximum Permissible Moment 100 N m <Example Operation> Product Name : DGM200R-AZAC Power-Supply Input : 230 VAC Load Mass 91 kg (6 load pieces + table) : Load 10 kg/piece 6 pieces : Table 31 kg (Diameter 500 mm, thickness 20 mm, iron) Overhang Distance : 160 mm Installation Direction : Horizontal High Rigidity [Load Moment] When a 10 kg load is placed 160 mm from the center of the table, the moment is 15.7 N m. 10 kg g 0.16 m 15.7 N m with g equals gravitational constant in m/s2 The permissible moment of the DGM200R is 100 N m, so this is within the permissible value. [Axial Load] The axial load is: table + load (31 kg + 10 kg) g 402 N with g equals gravitational constant in m/s2. The permissible axial load of the DGM200R is 4000 N, so this is within the permissible value. 160 mm Load 10 kg Load 10 kg 6 pieces 10 kg 10 kg Total Mass 91 kg 10 kg Load Moment 15.7 [N m] Table Mass 31 kg 10 kg 10 kg 10 kg Axial load 402 [N] ϕ500 mm A high-rigidity rotary actuator allows a large load that is far away from the table center to be driven High Load The axial load for a total mass of 91 kg is 893 N. (10 kg 6 pieces + 31 kg) g 893 N with g equals gravitational constant in m/s2 The permissible axial load of the DGM200R is 4000 N, so this is within the permissible value. Relationship Between Load Moment and Displacement when Distance L=200 mm from Center of Table The larger the frame size, the received permissible moment increases, but the displacement caused by the load moment decreases. High Load Driving is Possible Table Load [N] Displacement [μm] Load Moment [N m] Distance L [mm] from Center of Table Displacement at Distance L = 200 mm from Center of Table Load Moment [N m] DGM200R 50 Displacement [μm] DGM85R DGM130R High Permissible Moment High Rigidity (Small displacement) 5

6 Simple Home Position Setting and Returnto-Home Thanks to Absolute System The patented <ABZO Sensor>, a newly developed small mechanical multi-turn absolute sensor. Contributes to improved productivity and cost reduction. Battery-free Built-in multiple rotation absolute sensor ABZO Sensor No Home Sensor Required Because it is an absolute system, no home sensor is required. Reduced Cost Sensor costs and wiring costs can be reduced, allowing for lower system costs. Simple Wiring Wiring is simplified, and the degree of freedom for equipment design is increased. Not Affected by Sensor Malfunctions No need to worry about sensor malfunctions, sensor damage or sensor disconnection. Improved Return-to-Home Accuracy Home position accuracy is increased because the return-to-home action is performed regardless of any variations in home sensor sensitivity. If no limit sensor is installed, movements that exceed the limit values can be avoided through the use of the limits in the driver software. High-Speed Return-to-Home Operation Because return-to-home is possible without using a home sensor, return-to-home can be performed at high speed without taking the specifications for sensor sensitivity into account, allowing for a shortened machine cycle. Return-to-Home Operation by Home Sensor Detection Because home recognition is based on the sensor's sensitivity, travel is at low speed Low Speed Home Sensor Return-to-Home Operation of Products with AZ Series Because the home position is known, high speed return-to-home is possible (ZHOME operation) High Speed Home Position +90 Easy Home Position Setting The home position can be easily set by pressing a switch on the driver's surface, which is saved by the ABZO sensor. In addition, home setting is possible with the MEXE02 data setting software or by using an external input signal. Return-to-Home Not Required Even if the power shuts down during a positioning operation, the positioning information is retained. Furthermore, for built-in controller types, positioning operations can restart without a return-to-home when recovering from an emergency stop of the production line or a blackout. Built-In Controller Type After an Emergency Stop, Operation Can Restart Without Return-to-Home Operation Restart 0 Push Switch Emergency Stop Operation Start Target Area 180 DC input type AC input type 6

7 Battery-Free Because it is a Mechanical-Type Sensor Battery-Free No battery is required because it is a mechanical-type sensor. Because positioning information is managed mechanically by the ABZO sensor, the positioning information can be preserved, even if the power turns off, or if the cable between the motor and the driver is disconnected. Reduced Maintenance Because there's no battery that needs replacing, maintenance time and costs can be reduced. Unlimited Driver Installation Possibilities Because there is no need to secure space for battery replacement, there are no restrictions on the installation location of the driver, improving the flexibility and freedom of the layout design of the control box. Safe for Overseas Shipping Normal batteries will self-discharge, so care must be taken when the equipment requires a long shipping time, such as when being sent overseas. The ABZO sensor does not require a battery, so there is no limit to how long the positioning information is maintained. In addition, there's no need to worry about various safety regulations, which must be taken into consideration when shipping a battery overseas. Position stored even if the cable between motor and driver is being disconnected Positioning information is stored within the ABZO sensor. Convenient Functions Thanks to the Use of the AZ Series Convenient Operation & Setting By using models with AZ Series functions, coordinate management on the hollow rotary actuator output table can be carried out, and the follow operations are possible. Reduce takt time with short-cut operations Simple control by setting no-entry zones This is an operation method in which the actuator rotates in the direction that is the shortest distance to the target position. This can reduce the takt time of the equipment. 0 (360 ) If there are obstructions on the equipment, it is possible to set a region on the output table that will be avoided. 0 Shortcut Detour Example) When moving from the 0 position to 270 position, counterclockwise movement is automatically selected as the shortest rotation direction Moving Range +90 No Entry Zone Reduced Equipment Setup Time The necessary operation parameters for the hollow rotary actuator are set at the time of shipment, which contributes to reduced equipment setup time. Home Position Resolution Setting (0.01 /step) Output Table Rotation Direction Setting Round Setting ±180 All initial setting values can be changed. Home Position Counterclockwise Clockwise +90 7

8 High Performance and High Reliability Thanks to Stepper Motor and Driver Packages High reliability is provided by using stepper motor and driver packages that employ a control method unique to Oriental Motor, which combines the merits of both open loop control and closed loop control. Quick Positioning through Agile Responsiveness With stepper motors, short distance positioning is carried out in a short period of time. Stepper motors are operated synchronously with pulse commands, and while they are compact, they still generate high torque and offer excellent acceleration performance and response. Actual stepper motor movement in response to operation commands Operation Commands Actual Movement Start Signal Positioning Completion Signal Time (Scale: 20 ms) 100 ms Actual movement follows the operation commands without delay. <Example Operation> Product Name : DGM200R-AZAC Power-Supply Input : 230 VAC Load Mass 91 kg (6 load pieces + table) : Load 10 kg/piece 6 pieces : Table 31 kg (Diameter 500 mm, thickness 20 mm, iron) Installation Direction : Horizontal Traveling Amount : 60 Total inertia of table and load = kg m 2 Load 10 kg 6 pieces 10 kg 10 kg 10 kg Speed (Scale: 500 r/min) Total Mass 91 kg 60 Stepper Motor and Driver Packages AZ Series With built-in battery-free absolute sensor Continues Operation Even with Sudden Load Fluctuation and Sudden Acceleration In normal conditions, it operates synchronously with pulse commands under open loop control, and because of its compact size and high torque generation, it has excellent acceleration performance and responsiveness. In an overload condition, it switches immediately to closed loop control to correct the position. Low Vibration Even at Low Speed Thanks to the microstep drive system and smooth drive function of the stepper motor, resolution can be improved without mechanical elements such as a speed reduction mechanism. As a result, speed fluctuation is minimal even at low speeds, leading to improved stability. About the Smooth Drive Function The smooth drive function automatically microsteps based on the same traveling amount and traveling speed used in the full step mode, without changing the pulse input settings. Table Mass 31 kg 10 kg 10 kg 10 kg Alarm Signal Output in Case of Abnormality Quick Positioning With the DGM200R, 60 rotation of a total mass of 91 kg is possible in 0.59 seconds. Load Inertia Positioning Time (Reference value) DGM200R 60 rotation is possible in 0.59 seconds Positioning Time [s] ϕ500 mm If a continuous overload is applied, an alarm signal is output. Also, when the positioning is completed, a signal is output. This provides high reliability. No Tuning Required Because it is normally operated with open loop control, even when the load fluctuates, no tuning is needed to obtain movement exactly as set. Maintains Stop Position Without Hunting Thanks to the normally open loop control, there is no hunting, the minute shaft movements that occur during stopping. Because the stop location is securely maintained, it is best suited for applications that undergo vibration during stops Load Inertia JL [ 10 3 kg m 2 ] The positioning time can be inferred using catalog data. Quick positioning is possible even with large loads. 8

9 Applications & Uses Applications that Require High Rigidity Applications that Require High Performance Motors Applications in which a Moment Load is Applied (Ceiling mounted) High Positioning Accuracy Applications (Image inspection equipment) Applications with Load Fluctuations (Disc manufacturing equipment) Installation Direction Example Use of Simple Sequence Function (Built-in Controller Type) In addition to horizontal installation, the DG Series can also be ceilingmounted or wall-mounted, expanding the possibilities of equipment design. Note A small amount of grease will occasionally seep out of the hollow rotary actuator. If a grease leak would cause a contamination issue near the machine, either perform routine inspections, or install protective equipment such as an oil sump. Ceiling Installation The built-in controller type can simplify sequence control programming by outputting control signals to other devices, and incorporating external input signals from sensors, etc. START Built-In Controller Type Drivers Positioning Operation 1 Set Wait Time Set Conditions Set Number of Repetitions Positioning Operation 2 END Setting of positioning operation data (up to 256 data settings) Number of general purpose inputs/outputs (9 inputs, 6 outputs) Output Input External Device External Sensor Wall-Mounted Installation Horizontal Installation 9

10 2 Driver Types Selectable to Match System Configuration Two types of DG Series drivers are available, depending on the master control system in use. Built-In Controller Type When Controlling with I/O Power Supply No Need for CPU Positioning I/O Unit When Controlling from Computer or Touchscreen When Controlling with Serial Communication Power Supply CPU Serial Communication Unit When Controlling with FA Network Power CPU Supply FA Network Unit Pulse Input Type Power Supply CPU I/O Positioning Unit Pulse Input 3 FA Network 1 I/O 2 Modbus (RTU) 2 Modbus (RTU) Network Converter (sold separately) 2 RS-485 With this type, the operating data is set in the driver, which can then be selected and executed from the host system. Host system connection and control are performed with 1 I/O, 2 Modbus (RTU)/ RS-485 or 3 FA network. is a registered trademark of CC-Link Partner Association. is a registered trademark of MECHATROLINK Members Association. is a registered trademark licensed by Beckhoff Automation GmbH in Germany. This type executes operations by inputting pulses into the driver. Control the motor using a separately obtained positioning unit (pulse generator). By using a network converter (sold separately), CC-Link communication, MECHATROLINK communication or EtherCAT communication are possible. Operating data, parameter settings and operation commands can be input via various communication types. Its ability to flexibly accommodate the network being used results in a shortened design time. Simple Operation with Data Setting Software Easy to use data setting software enables data setting and verification of the actual drive by using a computer. Data Setting Software (MEXE02) The data setting software can be downloaded from the website. Oriental Motor also provides it on a CD-ROM free of charge. Operating Data and Parameter Settings Setting of operation data and parameters is easily performed via computer. Because the setting data can be saved, when the driver is replaced, the same settings can be used by transferring the saved data. Teaching and Remote Operation By using the data setting software and manual positioning, the operation command information can be input into the driver. Use when setting up equipment. Hollow Rotary Actuators DG Series Can be input into driver Various Monitoring Functions I/O Monitoring The state of I/O wiring to the driver can be verified by computer. This can be used for post-wiring I/O checks or I/O checks during operation. Waveform Monitoring The operational state of the motor (such as command speed and motor load factor), can be checked by an oscilloscope-like image. This can be used for equipment start-up and adjustment. Manual Positioning Alarm Monitoring When an abnormality occurs, the details of the abnormality and the solution can be checked. Multi-monitoring enables remote operation and teaching while monitoring. 10

11 Product Lineup Hollow rotary actuator DG series AC Single-Phase VAC Built-in battery-less absolute sensor Built-in AZ series DC 24 VDC /48 VDC Actuator Driver Product Rotary Actuator Frame Size Power Supply Input Diameter of Hollow Section [mm] Permissible Torque [N m] Permissible Moment [N m] Permissible Axial Load Lost Backlash Motion [arcmin] [arcmin] Angular Transmission Accuracy [arcmin] Repetitive Positioning Accuracy [arcsec] Type DGM85R 85 mm AC DC NEW ϕ [0.067 ] Built-in Controller Type DGM130R AC 130 mm DC NEW ϕ [0.033 ] Non-Backlash 3 [0.05 ] ±15 [± ] AC DC NEW Pulse Input Type DGM200R AC 200 mm ϕ [0.033 ] AC DC NEW Hollow rotary actuator DG Series Others Introduction of line up Products equipped with stepper motor unit AR Series equipped with rotor position detection sensor (resolver) are also available. Please choose according to your purpose. On-Board Motor Series Actuator mounting angle dimension 60 mm 85mm 130 mm 200 mm Stepper Motor and Driver Packages AR Series The DG60 is with deep groove ball bearing 11

12 How to Read Specifications Hollow Rotary Actuators Specifications Frame Size 85 mm 130 mm 200 mm Product Name DGM85R-AZ DGM130R-AZ DGM200R-AZ C Driver product name Built-in Controller AZD-CD, AZD-KD AZD-CD Pulse Input Type AZD-C, AZD-K AZD-C Built-In Motor AZ Series 1 Type of Output Table Supporting Bearing Cross-Roller Bearing 2 Inertia J: kg m [ ] 1 [ ] 1 [ ] 1 Gear Ratio 18 3 Minimum Traveling Amount of the Output Table deg/step Permissible Torque N m Holding Torque at Motor Standstill Power ON N m [20] Electromagnetic Brake N m Max. Speed deg/seconds 1200 (200 r/min) 660 (110 r/min) 7 Repetitive Positioning Accuracy arc second ±15 (±0.004 ) 8 Lost Motion arc minute 2 (0.033 ) 9 Angular Transmission Accuracy arc minute 4 (0.067 ) 3 (0.05 ) 2 (0.033 ) 10 Permissible Axial Load N Permissible Moment N m Runout of Output Table Surface mm Runout of Output Table Inner (Outer) Diameter mm Parallelism of Output Table mm Degree of Protection IP40 (IP20 for motor connector) Power-Supply Input Voltage and Frequency Single-Phase VAC -15 % to +6 % 50/60 Hz 24 VDC / 48 VDC Single-Phase VAC -15 % to +6 % 50/60 Hz 24 VDC / 48 VDC Single-Phase VAC -15 % to +6 % 50/60 Hz Input Current A [1.8] [3.8] Either A (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. Either C (single-phase VAC) or K (24/48 VDC) indicating the power supply input is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. 1Type of Output Table Supporting Bearing This is the type of the bearing used for the output table. 2Inertial Moment This is the total sum of the rotor inertial moment of the motor and the inertial moment of the speed reduction mechanism converted to a moment on the output table. 3Minimum Traveling Amount of the Output Table This is the minimum traveling amount that can be set. (Factory setting) 4Permissible Torque This is the limit of mechanical strength of the speed reduction mechanism. Make sure the applied torque, including the acceleration torque and load fluctuation, does not exceed the permissible torque. 5Holding Torque at Motor Standstill Power ON: This is the maximum torque with which to hold the output table in position if it stops when the power is on. Electromagnetic Brake: This is the maximum torque with which to hold the output table in position using an electromagnetic brake when it stops. 6Max. Speed This is the output table speed that the mechanical strength of the speed reduction mechanism can tolerate. 7Repetitive Positioning Accuracy This is a value indicating the degree of error that generates when positioning is performed repeatedly to the same position in the same direction. 9Angular Transmission Accuracy This is the difference between the theoretical rotation angle of the output table as calculated from the input pulse counter, and the actual rotation angle. 10Permissible Axial Load This is the permissible value of axial load applied to the output table in the axial direction. 11Permissible Moment When a load is applied to a position away from the center of the output table, the output table receives a tilting force. The permissible moment load refers to the permissible value of moment load calculated by multiplying the offset distance from the center by the applied load. 12Runout of Output Table Surface This is the maximum value of runout of the installation surface of the output table when the output table is rotated under no load. 13Runout of Output Table Inner (Outer) Diameter This is the maximum value of runout of the inner diameter or outer diameter of the table when the output table is rotated under no load. 14Parallelism of Output Table This is the inclination of the installation surface of the output table compared with the actuator installation surface on the equipment side. 15Degree of Protection Based on IEC60529 and EN (=IEC ), dustresistance and waterproofing regarding the degree of protection of the device is classified using a grade. 8Lost Motion This is the difference in stopped angles achieved when the output table is positioned to the same position in the forward and reverse directions. 12

13 System Configuration Combination of electric actuator with Built-In Controller Type An example of a configuration using I/O control or RS-485 communication is shown below. DG Series Hollow Rotary Actuators Connection Cable Sets/Flexible Connection Cable Sets Maximum extension distance: 20 m For Motor For Electromagnetic Brake For Encoder 24 VDC Power Supply for Control Driver To USB Port Data Setting Software MEXE02 (For RS-485 communication) Computer* Programmable Controller* For Motor For Electromagnetic Brake For Encoder AC Power Supply (main power) Accessories (sold separately) Peripheral Products (sold separately) Mounting Pedestals Page 37 For Electromagnetic For Motor Brake Extension Cable Sets Flexible Extension Cable Sets Page 35 For Encoder Network Converters Page 39 General-Purpose Cables for I/O Signals Page 37 RS-485 Communication Cable To be supplied by the customer. MEXE02 can be downloaded from the Oriental Motor webstite The functionality and operation methods for this product are the same as the AZ Series stepper motor and driver packages. For functionality and operation methods, refer to the AZ Series operation manual (driver section and functionality section). Example of System Configuration DG Series Accessory (sold seperately) Motor Driver Connection Cable Sets General-Purpose Cables for I/O Signals (1 m) DGM85R-AZMC AZD-C CC030VZFB CC16D010B-1 1, The system configuration shown above is an example. Other combinations are also available. Note The motor cable and electromagnetic brake cable from the motor cannot be connected directly to the driver. When connecting to a driver, use a connection cable. 13

14 Combination of electric actuator with Pulse Input Type A single-axis system configuration with the SCX11 Series controller is shown below. DG Series Hollow Rotary Actuators Connection Cable Sets/Flexible Connection Cable Sets Driver Data Setting Software MEXE02 Maximum extension distance: 20 m For Motor To USB Port For Electromagnetic Brake Computer* For Encoder Controller (sold separately) Controller Page 39 For Motor For Electromagnetic Brake For Encoder Accessories (sold separately) AC Power Supply (Main power supply) 24 VDC Power Supply* Mounting Pedestals Page 37 For Electromagnetic For Motor Brake Extension Cable Sets Flexible Extension Cable Sets Page 35 For Encoder Programmable Controller General-Purpose Cables for I/O Signals Page 37 To be supplied by the customer. MEXE02 can be downloaded from the Oriental Motor webstite The functionality and operation methods for this product are the same as the AZ Series stepper motor and driver packages. For functionality and operation methods, refer to the AZ Series operation manual (driver section and functionality section). Example of System Configuration DG Series Accessory (sold seperately) Motor Driver Connection Cable Sets General-Purpose Cables for I/O Signals (1 m) DGM85R-AZMK AZD-KD CC030VZFB2 CC16D010B-1 1, The system configuration shown above is an example. Other combinations are also available. Note The motor cable and electromagnetic brake cable from the motor cannot be connected directly to the driver. When connecting to a driver, use a connection cable. 14

15 Product Number Code Motor DGM 130 R - AZ A C Series DGM: DG Series 2 Frame Size 85: 85 mm 130: 130 mm 200: 200 mm 3 Type of Output Table Supporting Bearing R: Cross-Roller Bearing 4 Motor Type AZ: AZ Series 5 Motor Shaft A: Single Shaft M: With Electromagnetic Brake 6 Power Supply Input C: Single-Phase VAC K: 24/48 VDC Driver AZD - C D Connection Cable Sets/Flexible Connection Cable Sets CC 050 V Z F B Driver Type AZD: AZ Series Driver 2 Power Supply Input C: Single-Phase VAC K: 24/48 VDC 3 D: Built-in Controller Type Type Blank: Pulse Input Type 1 CC: Cable Length 005: 0.5 m 010: 1 m 015: 1.5 m 020: 2 m 2 025: 2.5 m 030: 3 m 040: 4 m 050: 5 m 070: 7 m 100: 10 m 150: 15 m 200: 20 m 3 Reference Number 4 Applicable Models Z: AZ Series 5 Cable Type F: Connection Cable Sets R: Flexible Connection Cable Sets 6 7 Electromagnetic Brake Cable Specifications Blank: Without Electromagnetic Brake B: With Electromagnetic Brake Blank: AC Power Supply Input 2: DC Power Supply Input Product Line (Single-Phase VAC) Hollow Rotary Actuators Standard Type Frame Size Product Name List Price 85 mm DGM85R-AZAC 1, mm DGM130R-AZAC 1, mm DGM200R-AZAC 1, Driver Built-In Controller Type Power Supply Input Product Name List Price Single-Phase VAC AZD-CD Standard Type with Electromagnetic Brake Frame Size Product Name List Price 85 mm DGM85R-AZMC 1, mm DGM130R-AZMC 1, mm DGM200R-AZMC 2, Pulse Input Type Power Supply Input Product Name List Price Single-Phase VAC AZD-C Cable Without Electromagnetic Brake For Motor For Encoder Product Line Length L [m] Product Name List Price 0.5 CC005VZF CC010VZF CC015VZF CC020VZF CC025VZF Connection 3 CC030VZF Cable Sets 4 CC040VZF CC050VZF CC070VZF CC100VZF CC150VZF CC200VZF Product Line Length L [m] Product Name List Price 0.5 CC005VZR CC010VZR CC015VZR CC020VZR CC025VZR Flexible Connection 3 CC030VZR Cable Sets 4 CC040VZR CC050VZR CC070VZR CC100VZR CC150VZR CC200VZR

16 Type with an Electromagnetic Brake For Motor For Encoder Product Line Length L %m) Product Name List Price 0.5 CC005VZFB CC010VZFB CC015VZFB CC020VZFB CC025VZFB Connection 3 CC030VZFB Cable Sets 4 CC040VZFB CC050VZFB CC070VZFB CC100VZFB CC150VZFB CC200VZFB For Electromagnetic Brake Product Line Length L (m) Product Name List Price Flexible Connection Cable Sets 0.5 CC005VZRB CC010VZRB CC015VZRB CC020VZRB CC025VZRB CC030VZRB CC040VZRB CC050VZRB CC070VZRB CC100VZRB CC150VZRB CC200VZRB Product Line (24 VDC / 48 VDC) Hollow Rotary Actuators Standard Type Frame Size Product Name List Price 85 mm DGM85R-AZAK 1, mm DGM130R-AZAK 1, Standard Type with Electromagnetic Brake Frame Size Product Name List Price 85 mm DGM85R-AZMK 1, mm DGM130R-AZMK 1, Driver Built-In Controller Type Power Supply Input Product Name List Price 24 VDC / 48 VDC AZD-KD Pulse Input Type Power Supply Input Product Name List Price 24 VDC / 48 VDC AZD-K Cable Without Electromagnetic Brake For Motor For Encoder Product Line Length L [m] Product Name List Price 0.5 CC005VZF CC010VZF CC015VZF CC020VZF CC025VZF Connection 3 CC030VZF Cable Sets 4 CC040VZF CC050VZF CC070VZF CC100VZF CC150VZF CC200VZF Product Line Length L [m] Product Name List Price Flexible Connection Cable Sets 0.5 CC005VZR CC010VZR CC015VZR CC020VZR CC025VZR CC030VZR CC040VZR CC050VZR CC070VZR CC100VZR CC150VZR CC200VZR Type with an Electromagnetic Brake For Motor For Encoder Product Line Length L [m] Product Name List Price 0.5 CC005VZFB CC010VZFB CC015VZFB CC020VZFB CC025VZFB Connection 3 CC030VZFB Cable Sets 4 CC040VZFB CC050VZFB CC070VZFB CC100VZFB CC150VZFB CC200VZFB For Electromagnetic Brake Product Line Length L [m] Product Name List Price Flexible Connection Cable Sets 0.5 CC005VZRB CC010VZRB CC015VZRB CC020VZRB CC025VZRB CC030VZRB CC040VZRB CC050VZRB CC070VZRB CC100VZRB CC150VZRB CC200VZRB

17 Specifications Hollow Rotary Actuators Specifications Frame Size 85 mm 130 mm 200 mm Product Name DGM85R-AZ DGM130R-AZ DGM200R-AZ C Driver product name Built-in Controller AZD-CD, AZD-KD AZD-CD Pulse Input Type AZD-C, AZD-K AZD-C Built-In Motor AZ Series Type of Output Table Supporting Bearing Cross-Roller Bearing Inertia J: kg m [ ] 1 [ ] 1 [ ] 1 Gear Ratio 18 Minimum Traveling Amount of the Output Table deg/step 0.01 Permissible Torque N m Holding Torque at Motor Standstill Power ON N m [20] 2 Electromagnetic Brake N m Max. Speed deg/seconds 1200 (200 r/min) 660 (110 r/min) Repetitive Positioning Accuracy arc second ±15 (±0.004 ) Lost Motion arc minute 2 (0.033 ) Angular Transmission Accuracy arc minute 4 (0.067 ) 3 (0.05 ) 2 (0.033 ) Permissible Axial Load N Permissible Moment N m Runout of Output Table Surface mm Runout of Output Table Inner (Outer) Diameter mm Parallelism of Output Table mm Degree of Protection IP40 (IP20 for motor connector) Power-Supply Input Voltage and Frequency Single-Phase VAC -15 % to +6 % 50/60 Hz VDC24 ±5% 2 VDC48 ±5% 3 Single-Phase VAC -15 % to +6 % 50/60 Hz VDC24 ±5% 2 VDC48 ±5% 3 Single-Phase VAC -15 % to +6 % 50/60 Hz Input Current A [1.8] [3.8] Either A (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. Either C (single-phase VAC) or K (24/48 VDC) indicating the power supply input is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. 2 Changes to 24 VDC±4% if the electromagnetic brake type has been extended with the 20 m accessory cable. 3 When operating with 48 VDC, please keep the load intertia up to 10 times the rotor inertia, and keep the torque safety factor 2 or more when calculating the acceleration torque (excluding DGM85 type) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Please keep the motor case temperature at a maximum of 80 C to protect the ABZO sensor. (When conforming to the UL Standards, the temperature of the motor case must be kept at 75 C or less, since the motor is recognized as heat-resistant class A.) The repetitive positioning accuracy is measured at a constant temperature (normal temperature) under a constant load. Electromagnetic brake specification Product Name DGM85 DGM130 DGM200 Operation Mode Power Off Activated Type Input voltage 24VDC±5% Input current A Brake operation time ms 20 Brake time releasing ms 30 Rating Continuous Changes to 24 VDC ± 4% if the electromagnetic brake type has been extended with the 20 m accessory cable. 17

18 General Specifications Heat-Resistant Class Actuator Built-in Motor: AZ Series 130 (B) [Recognized as 105 (A) by the UL Standards] Built-In Controller Type Driver Pulse Input Type Insulation Resistance Dielectric Voltage Operating Environment (In operation) Ambient Temperature Ambient Humidity The measured value is 100 MΩ or more when a 500 VDC megger is applied between the following locations: Case Motor windings Case Electromagnetic brake windings 1 The measured value is 100 MΩ or more when a 500 VDC megger is applied between the following locations: Protective earth terminal Power supply terminal Sufficient to withstand the following for 1 minute: Case Motor windings 1.0 kvac, 50 Hz or 60 Hz Case Electromagnetic brake windings kvac, 50 Hz or 60 Hz C (Non-freezing) 85% or less (Non-condensing) C (non-freezing) Use in an area without corrosive gases and dust. Atmosphere The product should not be exposed to water, oil or other liquids. Degree of Protection IP40 (IP20 for motor connector) IP10 Multiple rotation detection range in ±900 rotations (1800 rotations) non-electrified state (Motor output shaft) 1 Only for electromagnetic brake type Note Do not perform the insulation resistance measurement or dielectric voltage withstand test while the actuator and driver are connected. Also, do not conduct these tests on the motor ABZO sensor component. Driver Specifications Classification Name Built-In Controller Type Pulse Input Type Input/Output Function Pulse Input Max. Input Pulse Frequency Line driver output by programmable controller: 1 MHz (When the pulse duty is 50%) Open-collector output by programmable controller: 250 khz (When the pulse duty is 50%) Negative Logic Pulse Input (Initial value) Direct Input Number of Inputs: 10 points Number of Inputs: 6 points Direct Output Number of Outputs: 6 points RS-485 Communication Network Input 16 Points Network Output 16 Points Built-In Controller Type RS-485 Communication Specification Protocol Modbus RTU Mode Electrical Characteristics Communication Mode Baud Rate Connection Type EIA-485 Based, Straight Cable Use shielded twisted-pair cables (TIA/EIA-568B CAT5e or better recommended). The maximum total extension length is 50 m. Half duplex and start-stop synchronization (data: 8 bits, stop bit: 1 bit or 2 bits, parity: none, even, or odd) Select from 9600 bps / bps / bps / bps / bps / bps Up to 31 units can be connected to a single programmable controller (master unit). 18

19 Speed Torque Characteristics (Reference values) Single-Phase VAC DGM85R-AZ DGM130R-AZ DGM200R-AZ Torque [N m] 6 5 Permissible Torque Torque [N m] Permissible Torque Torque [N m] 60 Permissible Torque Rotation Speed [deg/s] Pulse Speed [khz] (Factory Setting = P/R) 24 VDC / 48 VDC DGM85R-AZ Torque [N m] 6 5 Permissible Torque VDC24 VDC Rotation Speed [deg/s] Pulse Speed [khz] (Factory Setting = P/R) Rotation Speed [deg/s] Pulse Speed [khz] (Factory Setting = P/R) DGM130R-AZ Torque [N m] Permissible Torque VDC24 VDC Rotation Speed [deg/s] Pulse Speed [khz] (Factory Setting = P/R) Rotation Speed [deg/s] Pulse Speed [khz] (Factory Setting = P/R) Note Data for the speed torque characteristics is based on Oriental Motor's internal measurement conditions. If the conditions are changed, the characteristics may also change as a result. Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Please keep the motor case temperature at a maximum of 80 C to protect the ABZO sensor. (When conforming to the UL Standards, the temperature of the motor case must be kept at 75 C or less, since the motor is recognized as heat-resistant class A.) Load Inertia Positioning Time (Reference value) Single-Phase VAC DGM85R-AZ Positioning Time [s] DGM130R-AZ 1.2 Positioning Time [s] DGM200R-AZ Positioning Time [s] VDC DGM85R-AZ 1.0 Load Inertia JL [ 10 4 kg m 2 ] Load Inertia JL [ 10 4 kg m 2 ] DGM130R-AZ Load Inertia JL [ 10 4 kg m 2 ] Positioning Time [s] Positioning Time [s] Load Inertia JL [ 10 4 kg m 2 ] Load Inertia JL [ 10 4 kg m 2 ] The load inertia refers to the inertia of the customer's load. Note The load intertia - positioning time is the theoretical value under normal temperature with a safety factor of 1.5 for torque. If the condition changes, the positioning time may change. 19

20 Mechanical Precision (At no load) DGM85R/DG130R DGM200R DGM85R/DGM130R DGM200R A Motor A A 3 3 DGM85R/DGM DGM200R 1 Runout of output table surface 2 Runout of output table inner and outer diameter 3 Parallelism of output table (against the installation surfa Displacement by Load Moment (Reference value) The output table will be displaced when it receives a load moment. The graph plots the table displacement that occurs at distance L from the rotation center of the output table when a given load moment is applied in one direction. The displacement becomes approximately twice the size when the load moment is applied in both the positive and negative directions. Distance from Center of Rotation L [mm] Arm F [N] Displacement [μm] Motor Load Moment [N m] = F L DGM85R 80 DGM130R 160 Displacement [μm] L=200 mm L=150 mm L=100 mm Displacement [μm] L=400 mm L=300 mm L=200 mm Load Moment [N m] Load Moment [N m] DGM200R Displacement [μm] L=600 mm L=500 mm L=400 mm L=300 mm Load Moment [N m] 20

21 Dimensions (Unit = mm) Actuator Product Name DGM85R-AZAC DGM85R-AZAK Mass 1.1 kg ± ±0.1 70± ± ϕ ϕ52 (H7) 0 ϕ (h7) ϕ A 2 M2.5 4 Deep ϕ5 (H7) Thru 4 ϕ6.5 Thru ±0.1 Fixed Part ϕ5 0 (H7) 6 Deep 70± ± ϕ13 ϕ62.5±0.1 6 M4 (60 at Equal Intervals) 8 Deep Encoder Cable ϕ Protective Earth Terminal M M2.5 4 Deep Motor Cable ϕ (Molex) R-210 (Molex) The shaded areas are rotating parts. Use M2.5 screw holes when installing the home sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. Product Name DGM85R-AZMC DGM85R-AZMK Mass 1.1 kg A 35.5± M2.5 4 Deep ϕ5 (H7) Thru 85 78±0.1 70± ± ϕ6.5 Thru ϕ ϕ52 0 (H7) 0 ϕ (h7) ±0.1 Fixed Part ϕ91 2 ϕ5 0 (H7) 6 Deep ± ± ϕ13 ϕ62.5± Encoder Cable ϕ M2.5 4 Deep M4 (60 at Equal Intervals) 8 Deep 2 M2.5 4 Deep Motor Cable ϕ Electro Magnetic Brake Cable ϕ (Molex) R-210 (Molex) R-210 (Molex) 21

22 Product Name DGM130R-AZAC DGM130R-AZAK Mass 2.7 kg A 37± M2.5 4 Deep ϕ104±0.1 2 ϕ5 (H7) Thru ± ± ±0.03 ϕ141 4 ϕ9 Thru Detail View of A ϕ ϕ92 0 (H7) 0 ϕ (h7) Fixed Part ± ± ϕ5 0 (H7) 6 Deep Encoder Cable ϕ M5 (60 at Equal Intervals) 8 Deep 4 ϕ ±0.03 Motor Cable ϕ8 14 Protective Earth Terminal M M2.5 4 Deep (Molex) R-210 (Molex) The shaded areas are rotating parts. Use M2.5 screw holes when installing the home sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. Product Name DGM130R-AZMC DGM130R-AZMK Mass 3.1 kg 155 A 37± M2.5 4 Deep ϕ104±0.1 2 ϕ5 (H7) Thru ± ± ±0.03 ϕ141 4 ϕ9thru Fixed Part ϕ ϕ92 0 (H7) 0 ϕ (h7) ± ± ϕ5 0 (H7) 6 Deep M5 (60 at Equal Intervals) 8 Deep Encoder Cable ϕ Motor Cable ϕ8 Electro Magnetic Brake Cable ϕ ±0.03 Protective Earth Terminal M ϕ18 2 M2.5 4 Deep (Molex) R-210 (Molex) R-210 (Molex) Detail View of A The shaded areas are rotating parts. Use M2.5 screw holes when installing the home sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. 22

23 Product Name DGM200R-AZAC Mass 9.4 kg 65± ± M2.5 4 Deep ϕ155±0.2 4 ϕ11 Thru ± ±0.03 ϕ214 Fixed Part ϕ8 0 (H7) 8 Deep Deep 10 ϕ ϕ100 0 (H8) ϕ140 0 (H7) 0 ϕ (h7) ϕ8 0 (H7) 8 Deep ± Encoder Cable ϕ Motor Cable ϕ Protective Earth Terminal M4 5 6 M6 (60 at Equal Intervals) 10 Deep 2 M2.5 4 Deep (Molex) R-210 (Molex) The shaded areas are rotating parts. Use M2.5 screw holes when installing the home sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. Product Name DGM200R-AZMC Mass 10 kg 65± ± M2.5 4 Deep ϕ155±0.2 4 ϕ11 Thru ± ±0.03 ϕ214 Fixed Part ϕ8 0 (H7) 8 Deep Deep ϕ H ) ( ϕ ϕ140 0 (H7) 0 ϕ (h7) ϕ8 0 (H7) 8 Deep ± Encoder Cable ϕ Motor Cable ϕ8 3.5 Protective Earth Terminal M M2.5 4 Deep 6 M6 (60 at Equal Intervals) 10 Deep Electro Magnetic Brake Cable ϕ (Molex) R-210 (Molex) R-210 (Molex) The shaded areas are rotating parts. Use M2.5 screw holes when installing the home sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. 23

24 Driver Built-In Controller Type (Single-Phase VAC) Driver Product Name: AZD-CD Mass: 0.65 kg max. 125 Slit 5 Slit 5 ϕ4.5 Thru Included Main Power/Regeneration Unit Connector (CN4) Connector: 05JFAT-SAXGDK-H5.0 (J.S.T. Mfg. Co., Ltd.) I/O Signals Connector (CN5) Connector: DFMC1, 5/12-ST-3, 5 (Phoenix Contact) 24 VDC Power Supply Input/Electromagnetic Brake Connection/ Regeneration Unit Thermal Input/Power Cutoff Signal I/O Connector (CN1) Connector: DFMC1, 5/7-ST-3, 5-LR (Phoenix Contact) Connector Wiring Lever: J-FAT-0T (J.S.T. Mfg. Co., Ltd.) R Protective Earth Terminal 2 M Pulse Input Type (Single-Phase VAC) Driver Product Name: AZD-C Mass: 0.65 kg Slit Included Main Power/Regeneration Unit Connector (CN4) Connector: 05JFAT-SAXGDK-H5.0 (J.S.T. Mfg. Co., Ltd.) max Slit 5 ϕ4.5 Thru I/O Signals Connector (CN5) Connector: DFMC1, 5/12-ST-3, 5 (Phoenix Contact) 24 VDC Power Supply Input/Electromagnetic Brake Connection/ Regeneration Unit Thermal Input/Power Cutoff Signal I/O Connector (CN1) Connector: DFMC1, 5/7-ST-3, 5-LR (Phoenix Contact) Connector Wiring Lever: J-FAT-0T (J.S.T. Mfg. Co., Ltd.) R Protective Earth Terminal 2 M Note The motor cable and electromagnetic brake cable from the hollow rotary actuator cannot be connected directly to the driver. When connecting to a driver, use the accessory connection cable (sold separately) or use the included connection cable (for products which include a connection cable). 24

25 Built-in Controller Type (24 VDC / 48 VDC) Driver Product Name: AZD-KD Mass: 0.15kg Slits 19.5 max Accessories Connector form in power/electromagnetic brake connections (CN1) Connector: MC1,5/5-STF-3,5 (PHOENIX CONTACT GmbH & Co. KG) Connector for Input/Output Signal (CN4) Connector: DFMC1,5/12-ST-3,5 (PHOENIX CONTACT GmbH & Co. KG) Pulse Input Type (24 VDC / 48 VDC) Driver Product Name: AZD-K Mass: 0.15kg Slits 19.5 max Accessories Connector form in power/electromagnetic brake connections (CN1) Connector: MC1,5/5-STF-3,5 (PHOENIX CONTACT GmbH & Co. KG) Connector for Input/Output Signal (CN4) Connector: DFMC1,5/12-ST-3,5 (PHOENIX CONTACT GmbH & Co. KG)

26 Connection and Operation (Single-Phase VAC) Built-in controller type Names and Functions of Driver Parts 7 24 VDC Power Input Terminal (CN1) Electromagnetic Brake Connection Terminal (CN1) Regeneration Unit Thermal Input Terminal (CN1) Power Cutoff Signal Input Terminal (CN1) Power Cutoff Monitor Output Terminal (CN1) Encoder Connector (CN2) 1 Signal Monitor Display 2 Unit Setting Switch 3 Baud Rate Setting Switch (BAUD) 4 Function Switch (SW1) HOME PRESET Switch USB Communication Connector RS-485 Communication Connector (CN6, CN7) Motor Connector (CN3) 5 Terminating Resistor Setting Switch (TERM.) Regeneration Unit Connection Terminal (CN4) 6 I/O Signals Connector (CN5) Main Power Input Terminal (CN4) Protective Earth Terminal Signal Monitor Displays LED Indicators Driver Product Name: AZD-CD Indication Color Function Lighting Condition PWR Green Power supply indication When 24 VDC power supply is input ALM Red Alarm indication When a protective function is activated (blinking) C-DAT Green Communication indication When communication data is being sent or received C-ERR Red Communication error indication When communication data is in error Unit Setting Switch Indication Function ID Set this when RS-485 communication is used. Set the unit number (factory setting: 0). Baud Rate Setting Switch Indication Function BAUD Set this when RS-485 communication is used. Set the baud rate (factory setting: 7). Function Switch Indication No. Function 1 Use in combination with the unit setting switch (ID) to set the unit number (factory setting: OFF). SW1 2 Set the RS-485 communication protocol (factory setting: OFF). RS-485 Baud Rate Setting No. Baud Rate (bps) Not used 7 Network Converters 8~F Not used 26

27 Terminating Resistor Setting Switch Indication No. Function 1 Set the RS-485 communication termination resistance (120 Ω) (factory setting: OFF). TERM. 2 OFF: Terminating resistor not used, ON: Terminating resistor used Configure both No. 1 and No. 2 to the same setting. I/O Signal Connector (CN5) Indication Pin No. Signal Name Description 1 IN0 START This signal is used to start positioning operation. 2 IN2 M1 Use 3 bits (M0, M1, M2) to select the operating data number. 3 IN4 ZHOME Travels to home location set via HOME PRESET switch. 4 IN6 STOP Stop the motor. 5 IN-COM [0-7] 1 Input common for IN0 IN7 6 IN8 FW-JOG Starts the JOG operation. 7 OUT0 HOME-END When home is determined, output when the high speed return-to-home operation is completed. 8 OUT2 PLS-RDY Not used. 9 OUT4 MOVE Output when the motor is operating. 10 OUT-COM 1 Output Common 11 ASG+ A-Phase Pulse Output+ CN5 12 BSG+ B-Phase Pulse Output+ 13 IN1 M0 Use 3 bits (M0, M1, M2) to select the operating data number. 14 IN3 M2 Use 3 bits (M0, M1, M2) to select the operating data number. 15 IN5 FREE Switches the motor into its non-excitation state. 16 IN7 ALM-RST Resets the alarm. 17 IN-COM [8-9] 1 IN8 and IN9 input common 18 IN9 RV-JOG Starts the JOG operation. 19 OUT1 IN-POS Output when motor operation is completed. 20 OUT3 READY Output when the driver is ready for operation. 21 OUT5 ALM-B Outputs the alarm status for the driver (normal close). 22 GND 1 Ground 23 ASG A-Phase Pulse Output 24 BSG B-Phase Pulse Output Functions to assign can be set by specifying parameters. Initial values are shown above. For details, please refer to the AZ Series operating manual (functionality section). 1 Initial setting values cannot be changed. 24 VDC Power Supply Input Terminal / Electromagnetic Brake Connection Terminal / Regeneration Unit Thermal Input Terminal / Power Cutoff Signal Input Terminal / Power Cutoff Monitor Output Terminal (CN1) Indication I/O Terminal Name Description +24 V 24 VDC Power Supply Input Terminal + Input 0 V 24 VDC Power Supply Input Terminal The power supply for the driver control circuit. Always connect when using. MB1 Electromagnetic brake terminal Output MB2 Electromagnetic brake terminal + Connect the electromagnetic brake cable for motors with the electromagnetic brake. TH1 Regeneration Unit Thermal Input Terminal Connect the accessory (sold separately) regeneration unit (RGB100). Input TH2 Regeneration Unit Thermal Input Terminal When not connecting a regeneration unit, short these 2 terminals to each other. HWTO1+ Power Cutoff Signal Input Terminal 1+ Connects to switch and host controller. HWTO1 Power Cutoff Signal Input Terminal 1 Input If either HWTO1 input or HWTO2 input is OFF, the motor power supply is cut off directly via hardware (CPU HWTO2+ Power Cutoff Signal Input Terminal 2+ bypassed). HWTO2 Power Cutoff Signal Input Terminal 2 EDM+ Power Cutoff Monitor Output Terminal + Connects to host controller. Output EDM Power Cutoff Monitor Output Terminal If both HWTO1 input HWTO2 input are OFF, the EDM output turns ON. 27

28 Connection Diagram Connections with Peripheral Equipment This is the power supply for the control circuit. Always connect when using. 24 VDC Power Supply 2 Connect to +24V, 0V Connect to MB1, MB2 Cable for Electromagnetic Brake 1 Connect to CN2 Cable for Encoder 1 Connect to CN3 Connected to USB Communication Connector Connect to CN6 or CN7 3 Included with product. Sold separately as accessories. Data Setting Software MEXE02 Computer 2 Cable for Motor 1 Connect to CN5 Connected to L1, L2 Controller 2 PE AC Power Supply Circuit Breaker or Ground Fault Interrupter 2 Noise Filter 2 1 Products are available with a 1 m, 2 m or 3 m cable for motor and driver, and also without. If cables longer than 3 m or flexible cables are required, select the appropriate cables from the accessories (sold separately). When wiring the motor and the driver, keep a maximum distance of 20 m. 2 Not supplied. 3 Connect to controller when controlling the system via RS-485 communication. Connecting the Main Power Supply The connection method differs according to the power supply specifications. Single-Phase VAC Single-Phase VAC Three-Phase VAC Connected to L and N Connected to L1, L2 Connected to L1, L2, L3 USB Cable Connection Connect to the computer on which the data setting software MEXE02 is installed to the driver with a USB cable. Please use USB cables which meet the follow specifications. Specifications USB2.0 (Full speed) Length: 3 m or less Cable Type: A-mini-B 28

29 Pulse Input type Names and Functions of Driver Parts 6 24 VDC Power Input Terminal (CN1) Electromagnetic Brake Connection Terminal (CN1) Regeneration Unit Thermal Input Terminal (CN1) Power Cutoff Signal Input Terminal (CN1) Power Cutoff Monitor Output Terminal (CN1) Encoder Connector (CN2) 1 Signal Monitor Display 2 Current Setting Switch (CURRENT) 3 Velocity Filter Setting Switch (FIL) 4 Function Switch (SW1) HOME PRESET Switch USB Communication Connector Motor Connector (CN3) Regeneration Unit Connection Terminal (CN4) 5 I/O Signals Connector (CN5) Main Power Input Terminal (CN4) Protective Earth Terminal Driver Product Name: AZD-C Signal Monitor Displays LED Indicators Indication Color Function Lighting Condition PWR Green Power supply indication When 24 VDC power supply is input ALM Red Alarm indication When a protective function is activated (blinking) READY Green READY Output When READY output is ON Current Setting Switch Indication Function CURRENT Sets the basis current used by the operating current and motor standstill current (factory setting: F) Command Filter Setting Switch Indication Function FIL Adjusts the responsiveness of the motor (factory setting: 1). Function Switch Indication No. Function 1 Sets the resolution per one rotation of the motor output shaft (factory setting: OFF [1000 p/r]). SW1 Switches the pulse input mode between 1-pulse input mode and 2-pulse input mode. 2 (Factory setting: OFF [2-pulse input Mode]) For details, please refer to the DG Series operating manual. 29

30 I/O Signal Connector (CN5) Indication Pin No. Signal Name Description 1 CW+ [PLS+] 1 CW pulse input+ [pulse input+] 2 CCW+ [DIR+] 1 CCW pulse input+ [Rotation Direction Input+] 3 IN4 ZHOME Travels to home location set via HOME PRESET switch. 4 IN6 STOP Stop the motor. 5 IN-COM [4-7] 1 Input common for IN4 IN7 6 IN8 FW-JOG Starts the JOG operation. 7 OUT0 HOME-END When home is determined, output when the high speed return-to-home operation is completed. 8 OUT2 PLS-RDY Output when pulse input preparation is completed. 9 OUT4 MOVE Output when the motor is operating. 10 OUT-COM 1 Output Common 11 ASG+ A-Phase Pulse Output+ CN5 12 BSG+ B-Phase Pulse Output+ 13 CW [PLS-] 1 CW pulse input [pulse input ] 14 CCW [DIR-] 1 CCW pulse input [Rotation Direction Input ] 15 IN5 FREE Switches the motor into its non-excitation state. 16 IN7 ALM-RST Resets the alarm. 17 IN-COM [8-9] 1 IN8 and IN9 input common 18 IN9 RV-JOG Starts the JOG operation. 19 OUT1 IN-POS Output when motor operation is completed. 20 OUT3 READY Output when the driver is ready for operation. 21 OUT5 ALM-B Outputs the alarm status for the driver (normal close). 22 GND 1 Ground 23 ASG A-Phase Pulse Output 24 BSG B-Phase Pulse Output Functions to assign can be set by specifying parameters. Initial values are shown above. For details, please refer to the AZ Series operating manual (functionality section). 1 Initial setting values cannot be changed. 24 VDC Power Supply Input Terminal / Electromagnetic Brake Connection Terminal / Regeneration Unit Thermal Input Terminal / Power Cutoff Signal Input Terminal / Power Cutoff Monitor Output Terminal (CN1) Indication I/O Terminal Name Description +24 V 24 VDC Power Supply Input Terminal + Input 0 V 24 VDC Power Supply Input Terminal The power supply for the driver control circuit. Always connect when using. MB1 Electromagnetic brake terminal Output MB2 Electromagnetic brake terminal + Connects the electromagnetic brake cable on motors with electromagnetic brake. TH1 Regeneration Unit Thermal Input Terminal Connect the accessory (sold separately) regeneration unit (RGB100). Input TH2 Regeneration Unit Thermal Input Terminal When not connecting a regeneration unit, short these 2 terminals to each other. HWTO1+ Power Cutoff Signal Input Terminal 1+ HWTO1 Power Cutoff Signal Input Terminal 1 Input HWTO2+ Power Cutoff Signal Input Terminal 2+ HWTO2 Power Cutoff Signal Input Terminal 2 EDM+ Power Cutoff Monitor Output Terminal + Output EDM Power Cutoff Monitor Output Terminal Connects to switch and host controller. If either HWTO1 input or HWTO2 input is OFF, the motor power supply is cut off directly via hardware (CPU bypassed). Connects to host controller. If both HWTO1 input HWTO2 input are OFF, the EDM output turns ON. 30

31 Connection Diagram Connections with Peripheral Equipment This is the power supply for the control circuit. Always connect when using. 24 VDC Power Supply 2 Connect to +24V, 0V Connect to MB1, MB2 Cable for Electromagnetic Brake 1 Connect to CN2 Cable for Encoder 1 Connected to USB Communication Connector Included with product. Sold separately as accessories. Data Setting Software MEXE02 Computer 2 Connect to CN3 Cable for Motor 1 Connect to CN5 Connected to L1, L2 Controller 2 PE AC Power Supply Circuit Breaker or Ground Fault Interrupter 2 Noise Filter 2 1 Products are available with a 1 m, 2 m or 3 m cable for motor and driver, and also without. If cables longer than 3 m or flexible cables are required, select the appropriate cables from the accessories (sold separately). When wiring the motor and the driver, keep a maximum distance of 20 m. 2 Not supplied. Connecting the Main Power Supply The connection method differs according to the power supply specifications. Single-Phase VAC Single-Phase VAC Three-Phase VAC Connected to L and N Connected to L1, L2 Connected to L1, L2, L3 USB Cable Connection Connect to the computer on which the data setting software MEXE02 is installed to the driver with a USB cable. Please use USB cables which meet the follow specifications. Specifications USB2.0 (Full speed) Length: 3 m or less Cable Type: A-mini-B 31

32 Connection and Operation (24 VDC / 48 VDC) Built-in controller type Name and Functions of Driver Parts RS-485 Communication Connector (CN6 and CN7) 1 Signal Monitor Display Encoder Connector (CN3) Motor Connector (CN2) 2 Function Setting Switch (SW1) 3 Address Number Setting Switch (ID) 4 Communication Speed Setting Switch (BAUD) USB Communication Connector HOME PRESET Switch Electromagnetic Brake Terminal (CN1) 5 Input/Output Signal Connector (CN4) Power Input Terminal (CN1) Protective Earth Terminal (CN1) Signal Monitor Display LED Display DIN Lever Driver Product Name: AZD-KD Display Colour Function When Activated POWER Green Power Display When power is on. ALARM Red Alarm Display Blinks when protective functions are activated. C-DAT Green Communication Display When communication data is received or sent. C-ERR Red Communication Error Display When there is an error with communication data. Function Setting Switch Display No. Function 1 This sets the address number in combination with the address number setting switch (ID) (Factory Setting: OFF). 2 This sets the protocol for RS-485 communication (Factory Setting: OFF). SW1 3 4 Set the RS-485 communication terminal resistor (120Ω) (Factory Setting: OFF). OFF: no terminal resistor, ON: terminal resistor connected. Please use the same settings for both No. 3 and No. 4. Address Number Setting Switch (ID) Display Function ID Set the address number for RS-485 communication (Factory Setting: 0). 32

33 Communication Speed Setting Switch Display Function BAUD Set this when using RS-485 communications. Set the communication speed (Factory Setting: 7). Settings of the RS-485 Communication Speed No. Baud Rate (bps) Not used 7 Network Converter 8 F Not used Input/Output Signal Connector (CN4) Display Pin Number Signal Name Content 1 IN0 START This signal is used to start positioning operation. 2 IN2 M1 Use the 3 bits of M0, M1, M2, to select the drive data No. 3 IN4 ZHOME Move to the home position set with the HOME PRESET switch. 4 IN6 STOP Stop the motor. 5 IN-COM [0 7] 1 IN0~IN7 input common 6 IN8 FW-JOG Start JOG operation. 7 OUT0 HOME-END Output when determining the home position or completing high speed point of return-to-home operation. 8 OUT2 PLS-RDY Not used 9 OUT4 MOVE Output while operating the motor. 10 OUT-COM 1 Output common 11 ASG+ A phase pulse output+ CN4 12 BSG+ B phase pulse output+ 13 IN1 M0 Use the 3 bits of M0, M1, M2, to select the drive data No. 14 IN3 M2 Use the 3 bits of M0, M1, M2, to select the drive data No. 15 IN5 FREE The motor is set to non-excitation. 16 IN7 ALM-RST Reset the alarm. 17 IN-COM [8-9] 1 IN8, IN9 input common 18 IN9 RV-JOG Start JOG operation. 19 OUT1 IN-POS Output when the motor operation is complete. 20 OUT3 READY Output when the driver is ready for operation. 21 OUT5 ALM-B Output the driver alarm state (normal close). 22 GND 1 Ground 23 ASG A phase pulse output 24 BSG B phase pulse output Assigned functions are set by means of the parameter settings. The above is the initial value. For details, refer to the User's Manual. 1 The initial value setting cannot be changed. 33

34 Connection Diagram Connection to Peripheral Equipment This is included in the product. This is available as an option (sold separately). Connect to CN6 or CN7 3 Data Setting Software MEXE02 Connect to CN3 Cable for Encoder 1 Connect to USB Communication Connector Connect to CN2 Cable for Motor 1 Connect to CN4 Computer 2 Connect to MB1 and MB2 Cable for Electromagnetic Brake 1 Black White Connect to CN1 Controller 2 24 V DC or 48 V DC PE GND AC Power Noise Filter 2 Direct current 2 Use as a countermeasure against noise. This is effective at reducing noise occurring from power or drivers. 1 Products with cable for connecting between motor and driver (1 m, 2 m, 3 m) are available as well as those to which such cable is not attached. Cables longer than 3 m or flexible cables can be selected as an option (sold separately). Make sure a cabling distance between the motor and the driver is 20 m or less. 2 Prepared by the customer. 3 When controlling with RS-485 communications, connect to the controller. USB Cable Connection The computer on which the data setting software MEXE02 is installed and driver are connected with a USB cable. Use the following specifications for the USB cable. Specification Cable USB2.0 (full speed) Length: 3 m (or less) Format: A-mini-B 34

35 Pulse Input type Names and Functions of Driver Parts 1 Signal Monitor Display Encoder Connector (CN3) Motor Connector (CN2) 2 Function Setting Switch (SW1) 3 Current Setting Switch (CURRENT) 4 Instruction Filter Setting switch (FIL) USB Communication Connector HOME PRESET Switch Electromagnetic Brake Terminal (CN1) Power Input Terminal (CN1) Protective Earth Terminal (CN1) 5 Input/Output Signal Connector (CN4) Signal Monitor Display LED Display DIN Lever Driver Product Name: AZD-K Display Colour Function When Activated POWER Green Power Display When power is on. ALARM Red Alarm Display Blinks when protective functions are activated. READY Green READY output When READY output is set to ON Function Setting Switch Display No. Function 1 Set the resolution for each motor output axis rotation (Factory Setting : OFF [1000p/r]). SW1 2 Set the pulse input format to 1 pulse input mode or 2 pulse input mode. (Factory Setting: OFF [2 pulse input mode]) 3, 4 Not used Current Setting Switch Display Function CURRENT Set basic current that is the base for the operation current and stop current (Factory Setting: F). Command Filter Setting Switch Display Function FIL Adjust the responsiveness of the motor (Factory Setting: 1). Input/Output Signal Connector (CN4) Display Pin Number Signal Name Content CN4 1 CW+[PLS+] 1 CW pulse input+[pulse input+] 2 CCW+[DIR+] 1 CCW pulse input+[rotation direction input+] 3 IN4 ZHOME Move to the home position set with the HOME PRESET switch. 4 IN6 STOP Stop the motor. 5 IN-COM [4 7] 1 IN4 IN7 input common 6 IN8 FW-JOG Start JOG operation. 7 OUT0 HOME-END Output when determining the home position or completing high speed home position return operation. 8 OUT2 PLS-RDY Output when the pulse input preparation is complete. 9 OUT4 MOVE Output while operating the motor. 10 OUT-COM 1 Output common 11 ASG+ A phase pulse output+ 12 BSG+ B phase pulse output+ 13 CW [PLS ] 1 CW pulse input [pulse input ] 14 CCW [DIR ] 1 CCW pulse input [rotation direction input ] 15 IN5 FREE The motor is set to non-excitation. 16 IN7 ALM-RST Reset the alarm. 17 IN-COM [8 9] 1 IN8, IN9 input common 18 IN9 RV-JOG Start JOG operation. 19 OUT1 IN-POS Output when the motor operation is complete. 20 OUT3 READY Outputs when the driver is ready for operation. 21 OUT5 ALM-B Output the driver alarm state (normal close). 22 GND 1 Ground 23 ASG A phase pulse output 24 BSG B phase pulse output Assigned functions are set by means of the parameter settings. The above is the initial value. For details, refer to the User's Manual. 1 The initial value setting cannot be changed. 35

36 Connection Diagram Connection to Peripheral Equipment This is included in the product. This is available as an option (sold separately). Data Setting Software MEXE02 Connect to CN3 Cable for Encoder 1 Connect to CN2 Cable for Motor 1 Connect to MB1 and MB2 Black Cable for Electromagnetic Brake 1 White Connect to CN1 Connect to USB Communication Connector Connect to CN4 Controller 2 Computer 2 24 V DC or 48 V DC PE GND AC Power Noise Filter 2 Direct current 2 Use as a countermeasure against noise. This is effective at reducing noise occurring from power or drivers. 1 Products with cable for connecting between motor and driver (1 m, 2 m, 3 m) are available as well as those to which such cable is not attached. Cables longer than 3 m or flexible cables can be selected as an option (sold separately). Make sure a cabling distance between the motor and the driver is 20 m or less. 2 Prepared by the customer. USB Cable Connection The computer on which the data setting software MEXE02 is installed and driver are connected with a USB cable. Use the following specifications for the USB cable. Specification Cable USB2.0 (full speed) Length: 3 m (or less) Format: A-mini-B 36

37 Accessories (sold separately) Connection Cable Sets, Flexible Connection Cable Sets Extension Cable Sets, Flexible Extension Cable Sets If the distance between the motor and driver is extended to 3 m or longer, a connection cable set or extension cable set must be used. The maximum length of the cable extension is 20 m (using included connection cable). For the single shaft motors, cables come as a set of motor and encoder cables. For the electromagnetic brake type motor, cables come as a set of motor, encoder and electromagnetic brake cables. Use a flexible connection cable set or flexible extension cable set if the cable will be bent repeatedly. Connection Example: Hollow Rotary Actuators Driver Connection Cable Sets/Flexible Connection Cable Sets or Extension Cable Sets/Flexible Extension Cable Sets Connection Cable Note The motor cable and electromagnetic brake cable from the motor cannot be connected directly to the driver. When connecting to a driver, use the accessory connection cable (sold separately) or use the included connection cable (for types which include a connection cable). Dimensions (Unit: mm) Connection Cable Cable for Motor Insulated Round Crimp Terminal (1.25-4) ϕ6.4 (Flexible extension cable is ϕ8) P-210 F32FSS-05V-KX (JST) (Molex) (23) (12) 23.9 Motor Side Cable for Encoder 1 5 m : (Molex) 7 20 m : (Molex) 18.8 L 1 5 m : ϕ m : ϕ7 (Flexible extension cable is ϕ8) (40) Driver Side 1 5 m : (Molex) 7 20 m : (Molex) max L Motor Side 18.8 Driver Side Extension Cable Cable for Motor (23) (12) Motor Side P-210 (Molex) L ϕ6.4 (Flexible extension cable is ϕ8) R-210 (Molex) (15) Driver Side Cable for Encoder (Molex) (Molex) ϕ7 (Flexible extension cable is ϕ8) max L Motor Side 18.8 Driver Side Cable for Electromagnetic Brake ϕ4.1 (Flexible extension cable is ϕ6) P R-210 (Molex) (Molex) (12) (15) Cable for Electromagnetic Brake P-210 (Molex) ϕ4.1 (Flexible extension cable is ϕ6) Stick Terminal: AI0.5-10WH (PHOENIX CONTACT) (14) Motor Side 23.9 L Driver Side (12) (14) Motor Side 23.9 L 80 Driver Side 37

38 Notes on Use of Flexible Cable 1 Do not allow the cable to bend at the cable connector. 2 Bending radius should be at least 6 times the cable diameter. 6 times min. of cable diameter 3The actuator cable and supplied connection cable is not flexible. If your application requires flexibility a flexible cable will be required. Flexible Connection Cable Flexible Extension Cable Driver Driver Motor Cable (Fix the cable) Flexible Connection Cable (Bending) Motor Cable (Fix the cable) Flexible Extension Cable (Bending) General-Purpose Cables for I/O Signals General-purpose multiconductor cable which is convenient for connection between the driver and the host controller. Product Line Product Name Length L [m] List Price CC16D005B CC16D010B CC16D015B CC16D020B The products above are 16 core. 6, 10 and 12 core types are also available. Dimensions (Unit: mm) Insulated Round Crimp Terminal (1.25-4) AWG24, Finished Outer Diameter ϕ ϕ L RS-485 Communication Cable This cable is used to link drivers in multi-axis operations with the built-in controller type. It also connects the network converter to the driver. Product Line Product Name Length L [m] List Price Dimensions (Unit: mm) CC001-RS CC002-RS L Mounting Pedestal for DG Series The mounting pedestal enables the DG Series to be used as a direct drive motor. Applications that require height and installation from the side can also be performed, expanding the range of available operations. Product Line Product Name DG Series Applicable Products Type Product Name List Price MDG85B Single Shaft DGM85R-AZA MDG130B Single Shaft DGM130R-AZA The product names of the applicable products are described with text by which the product name can be identified. ϕ6.2 38

39 Data Setting Software MEXE02 In addition to setting and editing the operating data and various parameters with a computer, you can perform teaching and monitor I/O and operating speed waveform with Data Setting Software. The data setting software can be downloaded from the website. It can also be sent on CD-ROM. Request one from our website, or contact the nearest Oriental Motor sales office. Computer and Driver Connection Please use USB cables which meet the follow specifications. Specifications USB2.0 (Full speed) Cable Length: 3 m or less Type: A-mini-B Operating Environment Operating System (OS) 32-bit (x86) versions and 64-bit (x64) versions are supported. Microsoft Windows XP Service Pack 3 Microsoft Windows Vista Service Pack 2 Microsoft Windows 7 Service Pack 1 Microsoft Windows 8 Microsoft Windows 8.1 Microsoft Windows 10 The 64-bit (x64) version runs with Service Pack 2. Computer Recommended CPU 1 Display Recommended Memory 1 Hard Disk 2 USB Port Disk Device Intel Core processor 2 GHz or faster (compatible with the OS) High resolution video adapter and monitor with a minimum resolution of XGA ( ) 32-bit (x86) version: 1 GB or more 64-bit (x64) version: 2 GB or more At least 60 MB of free disk space USB2.0 One port CD-ROM Drive (Used for installation) 1 The system requirements for the OS must be met. 2 MEXE02 requires Microsoft.NET Framework 4 Client Profile. It will be automatically installed if it is not already installed, so 1.5 GB of free space for the 64-bit (x64) version and 600 MB of free space for the 32-bit (x86) version may be required. Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries. Intel and Core are registered trademarks or trademarks of Intel Corporation in the United States and other countries. For the latest information on operating environment, refer to the Oriental Motor website. Note The required memory and hard disk space may vary depending on the system environment. Home Sensor Sets A home sensor set, which consists of a photomicro sensor, cable type connector, sensor mounting bracket, shield plate and installation screws, is provided. Product Line Product Name Sensor Type Applicable List Price PADG-SB NPN (for sourcing Input) DGM85R-AZ DGM130R-AZ PADG-SBY PNP (for sinking Input) DGM200R-AZ PADG-SB Regeneration Unit During vertical drive (gravitational operation) or sudden start/stop in high inertia, an external force causes the motor to rotate and function as a power generator. When the regenerative power exceeds the driver's regenerative power absorption capacity, it may cause damage to the motor. In such a case, the regeneration unit is connected to the driver to convert regenerative energy into thermal energy for dissipation. Product Line Product Name List Price RGB Specifications Item Continuous Regenerative Power Resistance Value Thermostat Operating Temperature Thermostat Electrical Rating Description 50 W 150 Ω Open: 150±7 C Close: 145±12 C (Normally closed) 120 VAC 4 A 30 VDC 4 A (Min. current 5 ma) Attach the regeneration unit to a location that has the same heat radiation capability as an aluminum heat radiation plate that is mm and 3 mm thick. 39

40 Network-Compatible Products (sold separately) Network Converters Network converters convert host communication protocol to Oriental Motor s original RS-485 communication protocol. You can use a network converter to control Oriental Motor s RS-485- compatible products within the host communication environment. Product Line Network Type Product Name List Price CC-Link Ver.1.1-Compatible NETC01-CC CC-Link Ver.2-Compatible NETC02-CC MECHATROLINK- Compatible NETC01-M MECHATROLINK- Compatible NETC01-M EtherCAT-Compatible NETC01-ECT NETC01-CC NETC02-CC NETC01-M2 NETC01-M3 NETC01-ECT Universal Controller SCX11 Equipped with program editing and execution functions, the highly-functional and sophisticated SCX11 controller is now available. Use the SCX11 as a stored program controller to connect to any of Oriental Motor's standard pulse input drivers. The SCX11 is also able to control the motor via various serial ports such as USB, RS-232C and 100 Sequence Programs can be Stored Easy Operation Intelligent Setting Product Line Product Name Compatible Driver List Price SCX11 AZD-C, AZD-K These products are manufactured at plants certified with the international standards ISO 9001 (for quality assurance) and ISO (for systems of environmental management). Specifications are subject to change without notice. This catalogue was published in June ORIENTAL MOTOR (EUROPA) GmbH European Headquarters Schiessstraße Düsseldorf, Germany Tel: Fax: ORIENTAL MOTOR SWITZERLAND AG Switzerland Headquarters Badenerstraße Brugg AG, Switzerland Tel: Fax: ORIENTAL MOTOR (UK) LTD. UK Headquarters Unit 5, Faraday Office Park, Rankine Road, Basingstoke, Hampshire RG24 8AH, U.K. Tel: Fax: ORIENTAL MOTOR (FRANCE) SARL France Headquarters 56, Rue des Hautes Pâtures Nanterre, France Tel: Fax: ORIENTAL MOTOR ITALIA s.r.l. Italy Headquarters Via XXV Aprile Pero (MI), Italy Tel: Fax: ORIENTAL MOTOR CO., LTD. Headquarters Higashiueno Taito-ku, Tokyo , Japan Tel: Fax: Other countries: Customer Service Center (Support in German & English) * CA L L OM CC info@orientalmotor.de Mon-Thu: 08:00-17:30 CET Friday: 08:00-16:00 CET * Free Call Europe For more information please contact: Copyright Oriental Motor (Europa) GmbH 2017 UK/062017/VERS02 Printed in Germany 40